Zhao, S., Dimarogonas, D.V., Sun, Z. et al. (1 more author) (2018) A general approach to coordination control of mobile agents with motion constraints. IEEE Transactions on Automatic Control, 63 (5). pp. 1509-1516. ISSN 0018-9286
Abstract
This paper proposes a general approach to design convergent coordination control laws for multi-agent systems subject to motion constraints. The main contribution of this paper is to prove in a constructive way that a gradient-descent coordination control law designed for single integrators can be easily modified to adapt for various motion constraints such as nonholonomic dynamics, linear/angular velocity saturation, and other path constraints while preserving the convergence of the entire multi-agent system. The proposed approach is applicable to a wide range of coordination tasks such as rendezvous and formation control in two and three dimensions. As a special application, the proposed approach solves the problem of distance-based formation control subject to nonholonomic and velocity saturation constraints.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Keywords: | Convergence; Mobile agents; Multi-agent systems; Dynamics; Collision avoidance; Aerospace electronics; Sun |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 14 Sep 2017 11:26 |
Last Modified: | 13 Dec 2023 15:19 |
Status: | Published |
Publisher: | Institute of Electrical and Electronics Engineers |
Refereed: | Yes |
Identification Number: | 10.1109/TAC.2017.2750924 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:120977 |